PATH PLANNING AND MOTION EXECUTION OF MOBILE ROBOT IN PRESENCE OF STATIC AND DYNAMIC OBSTACLES

Authors

  • Predrag Vasiljević Autor

DOI:

https://doi.org/10.24867/02IH02Vasiljevic

Keywords:

Mobile robot, Path planning, Obstacles

Abstract

In this paper is presented method used for path planning for mobile robot in presence of static and dynamic obstacles. Selected method for path planning is presented in second chapter and it is called A* algorithm. In third chapter is explained motion execution and speed control. After that, in fourth chapter is presented implementation on mobile robot driven by three omni-directional wheels, as well as testing method for path planning in presence of static and dynamic obstacles.

References

[1] Predrag Vasiljević, “Upravljanje kretanjem robotske platforme pogonjene sa tri omnidirekciona točka”, Fakultet tehničkih nauka, Univerzitet u Novom Sadu, Oktobar 2017.

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Published

2019-03-22

Issue

Vol. 34 No. 04 (2019): Proceedings of the Faculty of Technical Sciences

Section

Mechatronics